Occupant based vehicle control

ABSTRACT

A vehicle includes an occupant monitoring system and a processing circuit coupled to the occupant monitoring system. The occupant monitoring system is configured to acquire occupant data regarding an occupant of the vehicle. The processing circuit is configured to receive the occupant data; determine a vehicle operation command based on the occupant data, the vehicle operation command configured to affect operation of the vehicle while the vehicle is in a robotic driving mode; and provide the vehicle operation command to a vehicle system.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.14/644,995 filed Mar. 11, 2015, entitled “OCCUPANT BASED VEHICLECONTROL,” which is incorporated herein by reference in its entirety.

BACKGROUND

Automobile technology has steadily progressed over the years. Engineshave become more efficient. Potentially harmful exhaust emissions havedecreased. Vehicle power output has increased while vehicle weight hasdecreased. Along with these developments, robotic driving devices arebeing developed that enable the vehicle to be robotically operated(i.e., a self-driving vehicle). Self-driving vehicles will reduce theimportance of operator quality and enable people otherwise prohibitedfrom driving to “operate” the vehicle (e.g., a person who is blind).However, self-driving vehicles may have operating characteristicssignificantly different from human-operated vehicles, such as in theaspects of handling, braking, and maneuvering in traffic. Thus,particularly during the introduction of self-driving vehicles, someoperators of and passengers in such vehicles may find some of thevehicle's actions unexpected, unpleasant, or even frightening.

SUMMARY

One embodiment relates to a vehicle including an occupant monitoringsystem and a processing circuit coupled to the occupant monitoringsystem. The occupant monitoring system is configured to acquire occupantdata regarding an occupant of the vehicle. The processing circuit isconfigured to receive the occupant data; determine a vehicle operationcommand based on the occupant data, wherein the vehicle operationcommand is configured to affect operation of the vehicle while thevehicle is in a robotic driving mode; and provide the vehicle operationcommand to a vehicle system. In one embodiment, the vehicle operationcommand is provided to an operator of the vehicle (e.g., via a displayscreen or monitor in the vehicle) to choose whether to implement thevehicle operating command with the vehicle.

Another embodiment relates to a vehicle including an occupant monitoringsystem, a robotic driving system, and a processing circuit coupled tothe occupant monitoring system and the robotic driving system. Theoccupant monitoring system is configured to acquire data regarding anoccupant of the vehicle. The robotic driving system is configured toprovide robotic control of the vehicle during a robotic driving mode.The processing circuit is configured to receive the occupant data;determine a vehicle operation command based on the occupant data,wherein the vehicle operation command is configured to affect operationof the vehicle while the vehicle is in a robotic driving mode; andprovide the vehicle operation command to a vehicle system. According toone embodiment, the vehicle system includes the robotic driving system.

Still another embodiment relates to a vehicle including an occupantmonitoring system, a vehicle monitoring system, and a processing circuitcoupled to the occupant monitoring system and the vehicle monitoringsystem. The occupant monitoring system is configured to acquire occupantdata regarding an occupant of the vehicle. The vehicle monitoring systemis configured to acquire vehicle operation data. The processing circuitis configured to receive the occupant data; receive the vehicleoperation data; provide an output to the occupant regarding operation ofthe vehicle; and provide a vehicle operation command to a roboticdriving system of the vehicle based on the occupant data and the vehicleoperation data, wherein the vehicle operation command is configured toaffect operation of the vehicle while the vehicle is in a roboticdriving mode.

Yet another embodiment relates to a vehicle including an occupantmonitoring system and a processing circuit coupled to the occupantmonitoring system. The occupant monitoring system is configured toacquire occupant data regarding an occupant of the vehicle. Theprocessing circuit is configured to identify an occupant of the vehicle;retrieve an occupant profile for the occupant based on identification ofthe occupant; receive the occupant data; determine a vehicle operationcommand based on the occupant data and the occupant profile, wherein thevehicle operation command is configured to affect operation of thevehicle while the vehicle is in a robotic driving mode; and provide thevehicle operation command to a vehicle system.

Still another embodiment relates to a method of operating a roboticdriving vehicle, including: receiving, by a processing circuit, occupantdata; determining, by the processing circuit, a vehicle operationcommand based on the occupant data, wherein the vehicle operationcommand is configured to affect operation of a vehicle while the vehicleis in a robotic driving mode; and providing, by the processing circuit,the vehicle operation command to a vehicle system.

Another embodiment relates to a method of operating a robotic drivingvehicle, including: receiving occupant data; receiving vehicle operationdata; providing an output to an occupant of a vehicle regardingoperation of the vehicle; and providing a vehicle operation command to arobotic driving system of the vehicle based on the occupant data andvehicle operation data, wherein the vehicle operation command isconfigured to affect operation of the vehicle while the vehicle is in arobotic driving mode.

Yet another embodiment relates to a method of operating a roboticdriving vehicle, including: identifying, by a processing circuit, anoccupant of a vehicle; receiving, by the processing circuit, occupantdata; determining, by the processing circuit, a vehicle operationcommand based on the occupant data; and providing, by the processingcircuit, the vehicle operation command to a vehicle system; wherein thevehicle operation command is configured to affect operation of thevehicle while the vehicle is in a robotic driving mode.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram of an occupant monitoring system coupled to aprocessing circuit in a vehicle, according to one embodiment.

FIG. 2 is a diagram of sensor locations for an occupant monitoringsystem in a vehicle, according to one embodiment.

FIG. 3 is a diagram of an occupant monitoring system acquiring occupantdata from occupants in a vehicle, according to one embodiment.

FIG. 4 is a diagram of a vehicle with an occupant monitoring systemresponding to a situation that caused discomfort for an occupant of thevehicle, according to one embodiment.

FIG. 5 is a diagram of a method of operating a robotic driving vehicle,according to one embodiment.

FIG. 6 is another diagram of a method of operating a robotic drivingvehicle, according to one embodiment.

FIG. 7 is another diagram of a method of operating a robotic drivingvehicle, according to one embodiment.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part thereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrative embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here.

Referring to the figures generally, various embodiments disclosed hereinrelate to systems and methods of controlling a robotic driving vehiclebased on the non-deliberate reactions of one or more occupants. Thesenon-deliberate reactions may indicate a presence of discomfort, stress,or other mental and/or physical state(s) regarding one or more of theoccupants of the vehicle who may be affected by operation of thevehicle. Until recently, all road vehicles were controlled directly by ahuman operator (the driver). As a result, both drivers and passengerswere and are accustomed to the behavior of human-controlled vehicles.For example, even when a passenger is riding with an unfamiliar driver(e.g., one who drives more or less aggressively than the passenger isused to) who may cause passenger reactions such as fear or frustration,the passenger still has a level of familiarization with thehuman-controlled vehicle. To that end, passengers may also react invarious ways to various vehicle events, for example being upset by anear-collision or a sudden bump. A human operator may sense and respondto both verbal input and nonverbal cues from passengers, and adjust hisor her driving style as appropriate. Today, sophisticated sensing andcomputer control systems are being developed that enable automobiles tobe robotically operated (i.e., self-driving). As mentioned above,self-driving vehicles will reduce the importance of operator quality andenable people otherwise prohibited from driving to “operate” the vehicle(e.g., a person who is blind). However, particularly during theintroduction of self-driving vehicles, some operators of and passengersin such vehicles may find some of the vehicle's actions unexpected,unpleasant, or even frightening. As such, various embodiments disclosedherein relate to enabling a self-driving vehicle to monitor and respondto the reactions of some or all of the occupants of the vehicle.

The robotic driving vehicle may be operable in two modes: a manualdriving mode and a robotic driving mode. Manual driving mode refers todriver-controlled vehicle operation and robotic driving mode refers toautonomous vehicle operation (i.e., a self-driving vehicle). While inrobotic driving mode, an occupant monitoring system acquires dataregarding the physical and/or emotional state of one or more of theoccupants of the vehicle. This data is hereinafter referred to as“occupant data.” The occupant data may be acquired explicitly and/orimplicitly, where explicitly refers to the occupant directly providingthe data and implicitly refers to one or more sensors detecting andacquiring the data. The occupant data provides an indication ofdiscomfort or another condition for one or more occupants. As thevehicle is being operated autonomously, occupants of the vehicle mayfeel uneasy, lacking control, unfamiliar with robotic driving vehicles,and/or in a general state of discomfort. A processing circuit uses theoccupant data to determine that one or more occupants are uncomfortable.Based on this determination, the processing circuit provides a commandto one or more systems of the vehicle, where the command is structuredto control an operating parameter of the vehicle. For example, while inrobotic driving mode, the vehicle may have a preset maximum followingdistance of ten feet. While the vehicle is maintaining this distance,the occupant monitoring system is acquiring data that indicates theheart rate of an occupant of the vehicle has increased above a thresholdvalue (e.g., due to the discomfort that the occupant is feeling whilethe vehicle is self-driving). The processing circuit determines thisincrease may be attributed to the vehicle following distance. As aresult, the processing circuit provides a vehicle operation command toincrease the following distance to twenty-five feet. These operationsmay be continuously performed until an occupant specifies a distance,the heart rate has decreased (i.e., there is no longer an indication ofdiscomfort), or the vehicle is placed into manual driving mode. Thus,the processing circuit, in conjunction with the occupant monitoringsystem, operates to relieve discomfort from the occupants of aself-driving vehicle.

According to another embodiment, the state of discomfort may alsoinclude an indication of boredom, irritation, or the like that indicatesthat the self-driving vehicle is operating too conservatively for one ormore of the occupants. For example, the processing circuit may receiveoccupant data of a passenger repeatedly tapping a floor of the vehicle.The processing circuit may determine that the passenger is irritated andprovide a command to increase, for example, the vehicle speed. In thisconfiguration, the processing circuit is structured to relievestress/discomfort due to conservative operation of the vehicle while inrobotic driving mode.

In some embodiments, the processing circuit also receives vehicleoperation data that provides an indication of the current operatingparameters of the vehicle (e.g., vehicle speed, a following distance,etc.). Using the occupant data, the processing circuit determines one ormore output correlations between the vehicle operating parameters andthe occupant data (e.g., at “X” vehicle speed, the stress level is at“Y”). These correlations may be provided to the occupants of the vehicleand/or used to optimize one or more vehicle operating parameters. Incertain embodiments, an occupant or user may specify vehicle commandsfor certain occupant data points, indicate occupant data points thatshow discomfort, provide responses (e.g., a vehicle operation command)based on the occupant data, and/or otherwise customize the system toselected preferences.

Further, the occupant monitoring system may be configured to recognizecertain occupants as having different privileges. In this regard, theprocessing circuit may be configured to selectively control/adjust anoperating parameter of the vehicle differently based on each occupant.For example, one occupant (e.g., the one seated proximate to the manualdriving controls (e.g., transmission shifter, steering wheel, pedals,etc.)) may be considered the vehicle operator and, therefore, givenpriority, or sole authority in specifying one or more drivingcharacteristics of the robotic driving vehicle. While a passenger of thevehicle may desire to increase the following distance of the vehicle,the operator may have a predefined following distance that prohibits thepassenger from increasing the following distance. In another embodiment,the operator may provide an input that overrides the desire of thepassenger. Accordingly, the privileges of certain occupants may differbased on the type of occupant (e.g., an owner, an operator, a passenger,etc.), such that, as described more fully herein, the processing circuitmay respond differently based on occupant data for various types ofoccupant. These and other features of the present disclosure aredescribed more fully herein.

Referring now to FIG. 1, occupant monitoring system 130 coupled toprocessing circuit 150 in vehicle 100 is shown, according to oneembodiment. Processing circuit 150 is communicably coupled toinput/output (I/O) device 110, vehicle monitoring system 120, vehiclesystems 140, and personal electronic device 160. As occupant monitoringsystem 130 and processing circuit 150 may be implemented in a wide rangeof vehicles, vehicle 100 may include, but is not limited to, sedanautomobiles, two- and three-wheeled motorbikes, sport-utility-vehicles,station wagons, vans, trucks, semi-tractor trailers, hybrid vehicles,full electric vehicles, aircraft, watercraft, etc. Accordingly, vehiclesystems 140 are not limited to those depicted in FIG. 1, but may alsoinclude application-specific systems (e.g., a battery management systemfor a full electric vehicle).

Communications between and among the components of FIG. 1 may be via anydata protocol, using any wired or wireless transmission medium. Forexample, a wired system may employ analog signals, a serial dataprotocol (RS-232, RS-442), an Ethernet protocol, a Universal Serial Bus(USB) protocol, etc., that is transmitted over twisted pair cables,coaxial cables, fiber optic cables, etc. A wireless system may employany of these protocols, or a wireless-only protocol such as Bluetooth orWi-Fi (various versions of 802.11), transmitted via radio (RF), e.g., at2.4 GHz or 5 GHz, optical or infrared beams, ultrasonic signals, orelectromagnetic induction. In one embodiment, the Controller AreaNetwork (CAN) bus protocol may be used to exchange digital data over awired or wireless bus.

Personal electronic device 160 may include any type of electronic devicethat an occupant of vehicle 100 may carry. For example, personalelectronic device 160 may include, but is not limited to, a mobilephone, a watch, a personal digital assistant (PDA), a laptop computer, atablet computer, any other computing device, an electronic bracelet ornecklace, etc.

Vehicle systems 140 may include steering system 142, braking system 144,powertrain system 146, and robotic driving system 148. Robotic drivingsystem 148 is configured to autonomously operate vehicle 100 (i.e.,robotic driving mode). Steering system 142 refers to the components andcontrol systems that enable directional control of the vehicle. Brakingsystem 144 refers to the components and control systems for the brakesof vehicle 100. Powertrain system 146 refers to the propulsioncomponents and control systems of vehicle 100. Powertrain system 146 mayinclude an engine, a transmission, a drive/propeller shaft, adifferential, and a final drive (e.g., the wheels of vehicle 100).Because vehicle 100 is widely variable (e.g., full electric to a solelyinternal combustion engine driven vehicle), the components of powertrainsystem 146 (and vehicle 100, in general) may also be widely variable.For example, the engine may include a spark-ignition engine or acompression-ignition engine. The transmission may include an automatictransmission, a manual transmission, a dual clutch transmission, etc.Additionally, vehicle systems 140 may include auxiliary systems such asa heating and air conditioning system, an exhaust treating system, or apositioning system. Accordingly, as described herein, when processingcircuit 150 provides a vehicle operation command to a vehicle system,the command is structured to control one or more systems (and componentswithin the system) to affect a desired operating parameter. For example,processing circuit 150 may command the transmission to downshift inorder to slow the vehicle speed and increase a following distance.

Vehicle monitoring system 120 is structured to acquire vehicle operationdata from one or more vehicle systems 140. Vehicle monitoring system 120may include one or more vehicle monitoring sensors 122 that are coupledto vehicle systems 140. Sensors 122 may be located within vehicle 100 orexternal of vehicle 100 (e.g., on the outside of vehicle 100). Sensors122 acquire the vehicle operation data and transmit the acquired data toprocessing circuit 150. Sensors 122 may include a vehicle speed sensor;an accelerometer; an inclinometer; a vehicle load sensor; radar systems(e.g., lidar, laser, etc.) that detect objects near the vehicle;temperature sensors; pressure sensors; etc. In some embodiments, thevehicle operation data provides an indication of current vehicleoperating parameters. In other embodiments, the vehicle operation datais used by processing circuit 150 to determine one or more vehicleoperating parameters. The vehicle operation data may be acquiredperiodically or continuously and may be acquired in robotic drivingmode, manual driving mode, or both. The vehicle operation data mayinclude, but is not limited to: a vehicle speed; an engine speed; aseparation distance to other vehicles; a vehicle load; a currentgear/setting of a transmission; etc.

As mentioned above, the vehicle operation data provides an indication ofone or more vehicle operating parameters, which may be determined byprocessing circuit 150. In one embodiment, the vehicle operatingparameters correspond with the operating characteristics of vehicle 100in robotic driving mode. Accordingly, the vehicle operating parametersmay include, but are not limited to: a current vehicle driving mode(e.g., robotic or manual); a vehicle speed relative to another vehicle,or other traffic in general; an absolute vehicle speed; a followingdistance; an acceleration characteristic (e.g., a time to accelerate toX miles-per-hour); a braking characteristic (e.g., a stopping distance);a vehicle turning characteristic (e.g., the vehicle may make sharp turnsas opposed to gradual turns); a separation distance relative to othervehicles and/or objects; etc. As described herein, processing circuit150 provides vehicle operation commands structured to adjust one or morevehicle operating parameters in order to decrease occupant discomfortwhile in robotic driving mode.

As the components of FIG. 1 are shown to be embodied in vehicle 100,processing circuit 150 may be structured as an electronic control module(ECM). The ECM may include a transmission control unit, an enginecontrol unit, and any other control unit included in a vehicle (e.g., apowertrain control module, etc.). According to one embodiment,processing circuit 150 may be implemented within robotic driving system148 (e.g., a controller or control system for robotic driving system 148may include processing circuit 150). In still another embodiment,processing circuit 150 may be implemented with an electronic processingsystem that implements the robotic driving mode for robotic drivingsystem 148. In yet another embodiment, vehicle monitoring system 120 maynot be coupled directly to processing circuit 150; vehicle monitoringsystem 120 may be communicably coupled to robotic driving system 148,and processing circuit 150 may query robotic driving system 148 toobtain raw or processed data regarding the vehicle state that isindicative from the vehicle operation data. All such variations areintended to fall within the spirit and scope of the present disclosure.As shown in FIG. 1, processing circuit 150 includes processor 152 andmemory device 154. In some embodiments, the functions of processingcircuit 150 described herein are performed by instructions (e.g.,software) on machine-readable media and utilize various hardwarecomponents. Processor 152 may be implemented as a general-purposeprocessor, an application specific integrated circuit (ASIC), one ormore field programmable gate arrays (FPGAs), a digital-signal-processor(DSP), a group of processing components, or other suitable electronicprocessing components. Memory device 154 may be configured as one ormore memory devices, which are configured to store various pieces ofvehicle operation data, selected vehicle operating parameters, occupantprofiles, occupant data, and other data. Memory device 154 may be orinclude non-transient volatile memory or non-volatile memory. Memorydevice 154 may include database components, object code components,script components, or any other type of information structure forsupporting the various activities and information structures describedherein. Memory device 154 may be communicably connected to processor 152(and the other components of vehicle 100) and provide computer code orinstructions for executing the processes described herein.

Processing circuit 150 is configured to receive occupant data fromoccupant monitoring system 130. Occupant monitoring system 130 acquiresdata regarding one or more occupants of vehicle 100 and transmits thedata to processing circuit 150. In one embodiment, the occupant data iscontinuously acquired when vehicle 100 is turned on (i.e., in manualdriving mode and robotic driving mode). In other embodiments, theoccupant data is acquired periodically and/or only during roboticdriving mode.

As shown, occupant monitoring system 130 include physiological responsesensors 132, physical response sensors 134, and acoustic sensors 136that acquire the occupant data. The occupant data may be acquired bothexplicitly and implicitly. Implicit data acquisition refers to dataacquired by one or more sensors and analyzed by processing circuit 150.Explicit data acquisition refers to data directly provided by one ormore occupants. For example, via input/output device 110, an occupantmay specify that he/she does not like close following distances. Inanother example, in response to a sharp turn taken by vehicle 100 duringrobotic driving mode, an occupant may state, “please do not turn cornersthat sharply in the future.” Processing circuit 150 utilizes thatstatement to provide one or more vehicle operation commands structuredto increase the turning radius for vehicle 100 (i.e., decrease thesharpness).

As mentioned above, physiological response sensors 132, physicalresponse sensors 134, and acoustic sensors 136 acquire the occupantdata. Sensors 132, 134, and 136 may be contact (e.g., via handholds) ornon-contact. Physical response sensors 134 may detect a physical forceor motion (e.g., pushing feet against floor of vehicle 100, grippressure, etc.). Acoustic sensors 136 may detect voluntary (e.g., “slowdown, please”) and involuntary sounds (e.g., sudden intake of breath,screams, etc.). Physiological sensors 132 may detect an occupant'sresponse to various vehicle operating maneuvers (e.g., the eye motion,the amount of shaking, and other occupant data points described above).In this example embodiment, the sensors are only shown to includesensors 132, 134, and 136. However, many other types of sensors may alsobe implemented with occupant monitoring system 130. Thus, the sensors ofoccupant monitoring system 130 may include cameras, body positionsensors, force or pressure sensors, microphones, heart rate/pulsesensors, moisture sensors (e.g., for sweat detection), temperaturesensors, a facial sensor (e.g., to detect frowns or facial features thatindicate an occupant is uncomfortable), etc. In another embodiment, thefacial sensor may also identify an occupant of vehicle 100 in order toretrieve occupant data (e.g., reference data, which is described below)for that occupant.

As mentioned above, the occupant data provides an indication ofdiscomfort of one or more occupants of vehicle 100 during the roboticdriving mode. As used herein, the term “discomfort” is not meant to belimiting, such that “discomfort” may refer to a stress, a sense ofuneasiness, a sense of distrust with operation of vehicle 100 in roboticdriving mode, a sensed medical condition, and any other term used todescribe how one is feeling. “Discomfort” may also refer to feelingsthat indicate impatience with the robotic driving vehicle. For example,the occupant data may also provide an indication of one or moreoccupants feeling that the robotic driving vehicle is operating tooconservatively. In this case, processing circuit 150 may provide acommand to increase a vehicle speed, or any other command to alleviateor attempt to alleviate the impatience feeling. As such, “discomfort” ismeant to be broadly interpreted in the spirit and scope of the presentdisclosure.

The occupant data may include, but is not limited to: an eye motion(e.g., a blink rate, eyes closed for an extended period of time that mayindicate that one is too scared to even open them, etc.); a pupil size;a perspiration amount and rate; a temperature; an exertion of force(e.g., grip a handhold, press feet to the floor of the vehicle, etc.); apulse rate; audible information (e.g., voice, breathing rate, etc.); anamount of shaking or trembling; a facial feature (e.g., a frown); anamount of familiarity with robotic driving vehicles; etc. Based on theoccupant data, processing circuit 150 may determine for one or more datapoints (e.g., perspiration amount, temperature, etc.), an average, arate of change, a peak level, a standard deviation, etc. based on theacquired and stored data. This determination may be correlated with aparticular vehicle operating parameter, such as turning, braking,accelerating, etc. (e.g., the average pulse rate for a followingdistance of X feet is Z pulses per minute).

Processing circuit 150 may utilize one or more predefined standards orpreferences provided by the occupants to determine if there isdiscomfort. The determination may be based on only one occupant, on someof the occupants, or on all the occupants. Processing circuit 150 maydetermine which vehicle operation command to provide based on one ormore occupant data points being outside a predefined standard. Thepredefined standard may include an acceptable range, a threshold level,and the like. The acceptable range may refer to a range where anoccupant data point is determined to not indicate a level of discomfort,such that occupant data points outside that range indicate discomfort.The threshold level may refer to a minimum or maximum value of anoccupant data point. These predefined standards may be set viainput/output device 110.

For example, a heart rate above ninety beats-per-minute may indicatediscomfort. Eyes open for more than forty-five seconds at a time mayindicate discomfort. Verbal distress signals (e.g., “I do not like nothaving control of the vehicle”) may indicate discomfort. As mentionedabove, defining what occupant data levels indicate discomfort may bedone via input/out device 110. As this may be highly customizable, onlya few examples were provided above.

Based on the occupant data, processing circuit 150 provides a vehicleoperation command that affects one or more vehicle operating parameterswhile vehicle 100 is in robotic driving mode. The vehicle operationcommands may be provided to vehicle systems 140. The vehicle operationcommands may include, but are not limited to: an increase to vehiclespeed; a decrease to vehicle speed; an increase in following distance; adecrease in following distance; a lateral separation distanceadjustment; an adjustment to an acceleration characteristic; anadjustment to a braking characteristic; an adjustment to a turningcharacteristic; and a deactivation of robotic driving mode. Processingcircuit 150 may also provide auxiliary functions, such as increasing ordecreasing a cabin temperature, and other functions that are not relatedto the vehicle driving characteristics. The following paragraphsillustrate examples of how processing circuit 150 determines whichvehicle operation command to provide.

Processing circuit 150 may determine which vehicle operation command toprovide based on a gradation level of one or more occupant data pointsfrom a predefined acceptable range. For example, if the pressure on thefloor of vehicle 100 increases by ten percent during robotic drivingmode relative to that received in manual driving mode (e.g., theoccupant becomes uncomfortable and exerts additional pressure on thefloor and their seat in order to achieve a sense of steadiness),processing circuit 150 may not provide any vehicle operation command.However, if the floor pressure increases by fifty percent, processingcircuit 150 may completely deactivate robotic driving mode.

Processing circuit 150 may determine which vehicle operation command toprovide based on a plurality of occupant data points, as opposed to justa sole occupant data point. While an individual occupant data point mayindicate an occupant's discomfort or comfort, processing circuit 150 mayutilize a plurality of occupant data points to improve accuracy. Forexample, when the temperature rises by five degrees Fahrenheit,processing circuit 150 asks the occupants of vehicle 100 if everythingis okay. However, if the temperature rises by five degrees Fahrenheitand the moisture content has increased by five percent (which mayindicate an increase in perspiration); processing circuit 150 lowers thevehicle speed and turns on the air conditioning system. Thus, thecombination of occupant data points led processing circuit 150 todetermine there is discomfort, which impacted the vehicle operationcommand determination.

Processing circuit 150 may also determine which vehicle operationcommand to provide based on a specific occupant, rather than theoccupants as a whole. For example, during robotic driving mode, theoccupant data points may indicate an acceptable deviation amountrelative to their pre-robotic driving mode occupant data points.However, one occupant has increased their shaking/trembling beyond anacceptable deviation range relative to their shaking/trembling duringmanual driving mode. Thus, processing circuit 150 may ask the individualif he/she is comfortable and base the vehicle operation command on theirresponse. As such, although the other occupants appear to be comfortableand not stressed, processing circuit 150 functions to accommodate theuncomfortable or likely uncomfortable occupant.

In one embodiment, processing circuit 150 is structured to providedifferent vehicle operation commands based on a type of occupant invehicle 100. The occupant type may include, but is not limited to, apassenger, a driver, and an owner. A passenger refers to a rider in thevehicle who may control certain vehicle features, such as anentertainment system and a heating/air conditioning system and notothers (e.g., driving controls, such as the brake pedal). A driverrefers to an occupant that drives the vehicle in manual driving mode.When in robotic driving mode, the driver may be classified as anoperator. An owner refers to an owner of the vehicle (e.g., a person orpersons that have a deed of title for the vehicle). Classification ofoccupant types may be via input/output device 110. It should beunderstood that the aforementioned categories or classification types isfor example purposes only, such that many othercategorization/classification systems exists. All such variations areintended to fall within the scope of the present disclosure. Forexample, a generic classification system may be occupant type 1,occupant type 2, and occupant type 3. Occupant type 1 is provided themost privileges (described below). Occupant type 2 is provided thesecond-most privileges and occupant type 3 is provided the least-amountof privileges. In other words, processing circuit 150 is structured tobe more responsive to the occupant data of occupant type 1, than ofoccupant type 2, which processing circuit 150 is more responsive to thanoccupant type 3 (responsiveness indicates the level of weight orconsideration given by processing circuit 150 based on the occupant datafor the specific occupant type).

Based on the occupant type, processing circuit 150 may provide differentvehicle operation commands. The provided vehicle operation commands maycorrespond with a level of control or privilege given to the occupantbased on the categorization or classification of the occupant. Forexample, an “owner” may be allowed to change or lock parameters thatcannot be overridden by any occupant (e.g., a passenger may desire toincrease a following distance of the vehicle, but due to a “lock” (e.g.,a locked setting, etc.) by the owner, the following distance cannot beincreased by more than X feet, such that processing circuit 150 islimited by the extent with which the following distance may beincreased). In another example, an owner or other high classifiedoccupant may have additional privileges, such as overriding passengerinputs, (e.g., “ignore passenger A; passenger A gets scared any time thevehicle is operated over 20 miles-per-hour”, or “passenger B is ourguest; pay extra attention to passenger B”, etc.). Processing circuit150 may use a weighting process or system to provide relatively greaterweight to determinations (based on occupant data) and/or inputs fromhigher classified/categorized occupants. For example, based on theoccupant data, processing circuit 150 may determine that an “owner” (inthis example, the owner has the highest classification) is notcomfortable with current operation of the vehicle but a “passenger”(lowest classification in this example) is comfortable with the currentoperation. Processing circuit 150 may weight (e.g., give moreconsideration towards, etc.) the owner's feeling of discomfort moreheavily than the passenger's feeling of comfort. Accordingly, processingcircuit 150 may provide a vehicle operation command based mainly on thediscomfort of the owner to alleviate stress in the robotic drivingvehicle of the owner.

Accordingly, in some embodiments, processing circuit 150 may identify anoccupant type. Identification may be via an input (e.g., viainput/output device 110) and include the same or similar processesdescribed herein. Based on the identification, processing circuit 150may classify or categorize the occupant. Processing circuit 150 may theninterpret occupant data different for each occupant classification, suchthat processing circuit 150 provides different vehicle operationcommands based on the occupant type.

Processing circuit 150 may also determine which vehicle operationcommand to provide based on a comparison of one or more occupant datapoints to one or more reference occupant data points. The referenceoccupant data may represent an average, a trend, a median, and/or anormal operating range of one or more occupant data points. Thereference occupant data may be based on a specific occupant; based onall the occupant data acquired for all the occupants of vehicle 100 overone or more vehicle trips; based on occupant data acquired for one ormore vehicle 100 occupants during a manual driving mode of vehicle 100;based on occupant data acquired after a predetermined time of operationof vehicle 100; etc.

Reference occupant data may be accumulated/assembled in at least thefollowing four ways. Each of these methods may be classified as datacollection modes for reference occupant data. First, as described above,vehicle 100 may operate for a predetermined amount of time (e.g., 15minutes) in order to gain representative occupant data for use asreference occupant data for a particular occupant. Second, manualdriving mode may be used as data collection mode. For example, thedriver may be comfortable with how he/she drives the vehicle.Accordingly, occupant data acquired during this time period for thedriver may be used as the reference occupant data during a roboticdriving mode session. Third, via memory device 154, reference occupantdata may be stored for repeat vehicle occupants to prevent a datacollection mode for that occupant. And, fourth, processing circuit 150may be preprogrammed with reference occupant data (e.g., based on one ormore standards, conditions, inputs, settings, etc.) to also prevent adata collection mode. In some embodiments, more than one of theaforementioned methods may be collectively used. All such variations areintended to fall within the scope of the present disclosure.

Use of the reference data may be explained in the following examples. Inone example, because occupant data points showing discomfort may varyfrom occupant-to-occupant, the reference occupant data may indicate thata perspiration increase of thirty percent indicates discomfort foroccupant A but no discomfort for occupant B. As such, a vehicleoperation command may be provided when this situation is detected invehicle 100 for occupant A but not for occupant B. In another example,processing circuit 150 may compare occupant data acquired during manualdriving mode against occupant data acquired during robotic driving mode(e.g., the reference occupant data) for a predefined period of operationof vehicle 100. For example, the vehicle is turned on in manual drivingmode and occupant monitoring system 130 begins acquiring occupant dataspecific to manual driving mode. Robotic driving mode is then activatedand occupant monitoring system 130 acquires occupant data during thismode. Processing circuit 150 utilizes the manual driving mode occupantdata as a reference for the robotic driving mode occupant data. Eachtime the vehicle is turned off, new reference data may be required (inother embodiments, the reference data may be stored from one operatinginstance to a subsequent instance). In this embodiment, vehicle 100 mayneed to be operated in manual driving mode for a predetermined amount oftime prior to sufficient reference occupant data being acquired. Forexample, three minutes of operation may be insufficient.

Processing circuit 150 may also determine which vehicle operationcommand to provide based on a comparison of the acquired occupant datato a stored profile of a vehicle occupant. In one embodiment, processingcircuit 150 identifies a vehicle occupant and then retrieves an occupantprofile for the identified occupant (e.g., from memory device 154).Identification may be based on facial recognition, an identifying inputfrom the occupant via input/output device 110, etc. The occupant profileincludes occupant-specific information. Occupant-specific informationmay be provided via input/output device 110 and include healthinformation of an occupant (e.g., a tobacco user, history of heartproblems, etc.), age, gender, and preferences (e.g., vehicle operatingparameters that the occupant is comfortable with as opposed touncomfortable with). Processing circuit 150 may utilize theoccupant-specific information to determine a discomfort level of thatoccupant during the robotic driving mode. Thus, the occupant profile mayrepresent the reference occupant data for the specific occupant. As anexample, a doctor may have prescribed the occupant to keep his or herheart rate below ninety beats-per-minute. When and if occupantmonitoring system 130 detects that person to have a heart rate at orabove ninety beats-per-minute, processing circuit 150 provides an outputto check on the person. In some embodiments, processing circuit 150provides a vehicle operation command to adjust the vehicle operatingparameter that caused or may have caused the increased heart rate (e.g.,increase the following distance to more than twenty feet because theincreased heart rate is detected whenever the following distancedecreases below fifteen feet).

According to one embodiment, identification may be via a recognition byprocessing circuit 150 of personal electronic device 160. As shown,processing circuit 150 is communicably coupled to personal electronicdevice 160. As described above, processing circuit 150 may communicatewith the components of FIG. 1 in either one or both of wired andwireless protocols (e.g., Wi-Fi, USB, Bluetooth, Internet, CAN, WLAN,etc.). Accordingly, personal electronic device 160 may communicate withprocessing circuit 150 via one or more of wired and wireless protocols.For example, vehicle 100 may include a USB charging port for asmartphone (i.e., personal electronic device 160). An occupant mayinsert the smart phone on the USB charging port to establish acommunication link between processing circuit 150 and the smartphone.Input/output device 110 (e.g., a touchscreen, etc.) may then indicatethat the smartphone is connected. In another example, personalelectronic device 160 may utilize Bluetooth pairing to communicablycouple to processing circuit 150. In still another example,identification by processing circuit 150 may via an identification of anIP address for each specific personal electronic device 160. In eachcase, upon recognition or identification, a corresponding occupantprofile may be retrieved (e.g., stored in memory device 154) thatrepresents the reference occupant data for the identified occupant.

In some embodiments, upon recognition, processing circuit 150 mayprovide one or more confirmation commands to input/output device 110.For example, a graphical image may appear on a touchscreen that states“Welcome back, John. Please enter your personal identification number(PIN) to confirm your identity.” The operator of the device may eitherenter the correct PIN, incorrect PIN, or (in some embodiments) bypassthe confirmation screen to acquire occupant data without occupantprofile retrieval. If the correct PIN is received, processing circuit150 retrieves the corresponding occupant profile. If an incorrect PIN isreceived more than a predefined number of times (e.g., five, etc.), asecurity alert may be provided by processing circuit 150 (e.g., send asignal to a remote monitoring service to alert them of a possible stolenitem, sound an alarm, etc.). Particular response protocol may beprescribed via input/output device 110. While the aforementioned exampleis described in regard to a PIN, it should be understood that many othertypes of confirmation codes or inputs may be used (e.g., facialrecognition, voice recognition, pupil recognition, fingerprint scanner,etc.), with all such variations intended to fall within the scope of thepresent disclosure.

Processing circuit 150 may also provide a vehicle operation commandbased on both the occupant data and the vehicle operation data. Moreparticularly, the vehicle operation command may be based on both theoccupant data and a vehicle operating parameter, as indicated by thevehicle operation data. Thus, the vehicle operation command may betailored to the vehicle operating parameter that caused or likely causedthe discomfort in one or more occupants. For example, during roboticdriving mode, the occupant data indicates an average audiblecharacteristic of no gasps or heavy breathing for the occupants of thevehicle. However, whenever the vehicle is brought to a stop, occupantmonitoring system 130 detects a gasp or sudden intake of breath.Processing circuit 150 may determine that one or more occupantsexperience discomfort during stopping. Accordingly, processing circuit150 may command that the stopping distance for the vehicle be increased,such that the vehicle employs a more gradual stop.

In addition to determining and providing vehicle operation commands,processing circuit 150 may also generate one or more outputs based onthe occupant data and the vehicle operation data. The output may beprovided via input/output device 130. The output may include theoccupant data (e.g., a current pulse rate), a determined or estimatedlevel of discomfort, one or more proposed vehicle operation commands,correlations between the occupant data and one or more vehicle operatingparameters, etc. Based on the output, an occupant may provide aresponse. The response may include an acceptance, rejection, ormodification to a proposed vehicle operation command; a replacementvehicle operation command; an actual level of discomfort; etc.Accordingly, the output allows the occupant(s) to monitor and provideinputs regarding the provided by processing circuit 150.

Defining these operating conditions of processing circuit 150 may be viainput/output device 110. Accordingly, input/output device 110 mayinclude a graphical user interface, such as a touchscreen, a voiceinterface, a keyboard interface, and/or any other interface capable ofallowing communications between a user or occupant of vehicle 100 andprocessing circuit 150. Through input/output device 110, users maydefine when occupant data is gathered (e.g., only during robotic drivingmode), what vehicle operation commands are permitted (e.g., processingcircuit 150 must receive an instruction from the occupant via the device110 prior to transmitting a command), acceptable operating ranges forone or more occupant data points, occupant-specific information, etc.

Referring now to FIGS. 2-4, an example operation of vehicle 100 withoccupant monitoring system 130 and processing circuit 150 is shownaccording to one embodiment. FIG. 2 depicts a configuration of sensorlocations for the occupant monitoring system 130 in vehicle 100. Thesensors are generically labeled by reference numeral 130 because theymay be embodied as physiological response sensors 132, physical responsesensors 134, acoustic sensors 136, and any other sensor type orcombination of multiple types of sensors. Thus, as shown, occupantmonitoring system 130 sensors may be placed on steering wheel 201,driver side armrest 202, rear seat passenger armrest 203, rear seats204, front passenger seat 205, floor 206, overhead handle 207, seatbelts208, transmission shifter 209, rearview mirror 210, and ceiling 211.These locations represent example sensor locations, such that many otherpositions are possible.

In this embodiment, when vehicle 100 is turned on, occupant monitoringsystem 130 begins to acquire occupant data (e.g., manual driving modedata) regarding occupant 301, occupant 302, and occupant 303 (FIG. 3).Prior to activation of the robotic driving system, sensor 130 of seat205 is monitoring force 311 from occupant 302. Sensor 130 of floor 206is monitoring foot force 310 from occupant 302. Occupant 303 is emittinga physiological response 320 and muttering speech 321. This manualdriving mode data may be utilized as reference data for processingcircuit 150 (described above). After initiation of robotic drivingsystem 148 of vehicle systems 140, the occupant data is reacquired.Processing circuit 150 compares the occupant data acquired during therobotic driving mode to the occupant data acquired during the manualdriving mode. As described above, processing circuit 150 may determineone or more vehicle operation commands if the occupant data acquiredduring the robotic driving mode differs more than an acceptable amountfrom the occupant data acquired during the manual driving mode.

As also mentioned above, processing circuit 150 may determine a vehicleoperation command based on the vehicle maneuver that caused the likelydiscomfort. For example, FIG. 4 shows vehicle 100 at following distance410 from vehicle 400. If the following distance for robotic driving modeis set at twenty-five feet and vehicle 100 is less than twenty-five feetto vehicle 100, processing circuit 150 may ask the occupant(s) if theyare comfortable via input/output device 110 (i.e., output 430).Processing circuit 150 may also provide a proposed vehicle operationcommand (see output 430 stating “would you like to increase thefollowing distance by ten feet?”). Additionally, if no response isreceived to the proposed command, processing circuit 150 may indicatethe next course of action (see output 430). While processing circuit 150is described above to provide an audible proposed command, in othercommands, processing circuit 150 may communicate with the occupantsgraphically (e.g., via a touchscreen, etc.,) or any other process. Forexample, processing circuit 150 may also present a virtual control,e.g., a slider on a touchscreen, allowing a user to adjust one or moreparameters that relates to their detected distress. Accordingly, theexamples described herein are not meant to be limiting, but broadlyinterpreted.

Thus, in operation, occupant monitoring system 130 acquires dataregarding occupants 301-303. The occupant data indicates a level ofdiscomfort and processing circuit 150 provides output 430 based on thisdetermination. Processing circuit 150 then operates based on a responsefrom the occupants or, if no response, on a predefined operation. Insum, processing circuit 150 via occupant monitoring system 130 ismonitoring the occupants to ensure they are comfortable during roboticdriving mode and making adjustments if they are not (e.g., one or morevehicle operation commands).

Referring now to FIGS. 5-7, methods of operating a robotic drivingvehicle are shown according to one embodiment. Methods 500-700 may beutilized with the components of FIG. 1. Accordingly, methods 500-700 aredescribed herein with regard to the components of FIG. 1.

Method 500 represents a method of controlling a robotic driving vehiclebased on the comfort of one or more occupants of the vehicle. Method 500may begin by occupant data being received (501). In one embodiment, theoccupant data is received by a processing circuit, such as processingcircuit 150. The occupant data provides an indication of discomfort ofthe occupants (or, in some embodiments, each occupant individually) invehicle 100 while vehicle 100 is in robotic driving mode. As mentionedabove, the occupant data may be acquired by an occupant monitoringsystem 130 using one or more sensors. Accordingly, the occupant data mayinclude an eye motion, a pupil size, a perspiration amount, aperspiration rate, a temperature, a pulse rate, audible information, anamount of shaking or trembling, an exertion of force (e.g., feet arepressed to floor the instant the vehicle is “self-driving”), or a facialfeature (e.g., a frown).

Vehicle operation data is received (502). In one embodiment, processingcircuit 150 receives the vehicle operation data. The vehicle operationdata provides an indication of one or more vehicle operating parametersas described above. Based on the vehicle operation data, it isdetermined that the vehicle is a robotic driving mode (503). In oneembodiment, processing circuit 150 determines that the vehicle is in arobotic driving mode based on the vehicle operation data (503). Based onthe occupant data, a vehicle operation is determined (504) and providedto a vehicle system (505). In one embodiment, processing circuit 150determines a vehicle operation command (504) and provides the command toa vehicle system (505). The vehicle operation command is structured toaffect a vehicle operating parameter of the vehicle while the vehicle isin a robotic driving mode.

As mentioned above, the vehicle operation command may be determined in awide variety of ways. The determination methodology may be set viainput/output device 100. Accordingly, as mentioned above, thedetermination may be based on: a gradation level of one or more occupantdata points from a predefined standard; a plurality of occupant datapoints, as opposed to just a sole occupant data point; occupant data fora specific occupant, rather than the occupants as a whole; a comparisonof one or more occupant data points to one or more reference occupantdata points; a comparison of the acquired occupant data to a storedprofile of a vehicle occupant; and/or on both the occupant data and thevehicle operation data. Method 500 may be configured to runcontinuously, such that the discomfort of one or more occupants in thevehicle is minimized over time.

Referring next to FIG. 6, method 600 depicts another embodiment ofcontrolling a robotic driving vehicle. Method 600 may begin by receivingvehicle operation data (601) and occupant data (602). In one embodiment,the vehicle operation data and occupant data is received by processingcircuit 150. The vehicle operation data provides an indication of one ormore vehicle operating parameters. An output based on either one or bothof the occupant data and the vehicle operation data is generated (603).In one embodiment, a processing circuit, such as processing circuit 150,generates the output. The output includes, but is not limited to: theoccupant data acquired; a proposed vehicle operation command; acorrelation between an occupant data point and a vehicle operatingparameter (e.g., during braking, the occupant data points indicate alevel of discomfort); the occupant data relative to an occupant profile(see method 700); an average of one or more occupant data points for aparticular time frame; a peak level of one or more occupant data pointsfor a particular time frame; an average or peak level of one or moreoccupant data points for each vehicle occupant individually and/orcollectively; an average and/or peak discomfort level based on theoccupant data for either a specific occupant or all the occupants for aparticular time frame; a proposed vehicle operation command based on thediscomfort detected; etc. One or more of the generated outputs may thenbe provided to an occupant of the vehicle (604).

A response to the output is received (605). In one embodiment,processing circuit 150 receives the response to the output. The responsemay be structured to control a vehicle operating parameter. Accordingly,the response may include a vehicle operation command, a rejection to agenerated vehicle operation command, a modification to a generatedvehicle operation command, and an acceptance to a generated vehicleoperation command. Processing circuit 150 may also receive an input toselect to view or to generate one or more of the outputs above. Thisinput may be received via input/output device 110.

A vehicle operation command is provided to a vehicle system based on atleast one of the response, the occupant data alone, and the occupantdata in connection with the vehicle operation data (606). In oneembodiment, processing circuit 150 provides the vehicle operationcommand to the vehicle system. When the vehicle operation command isbased on the occupant data alone, process 606 may function similar toprocess 505 of method 505. Utilizing both the occupant data and thevehicle operation data, processing circuit 150 determines what vehiclemaneuver (i.e., vehicle operating parameter) caused the characteristicof the occupant data. Accordingly, processing circuit 150 tailors thevehicle operation command to affect those maneuvers in order toalleviate the discomfort that was indicated by the characteristic in theoccupant data.

Method 600 enables the occupants to interact with processing circuit 150prior to a vehicle operation command being provided (e.g., process 605).Further, method 600 allows occupants to examine how processing circuit150 perceives them to react during in robotic driving mode. Viainput/output device 110, the occupants may adjust the determinationsmade by processing circuit 150 to optimize one or more operations ofprocessing circuit 150.

As an example, occupant A may be unfamiliar with a robotic driving car.The vehicle is initially operated manually (i.e., operator controlled).The occupant monitoring system is acquiring occupant data for eachoccupant in the vehicle. After the vehicle has been operated for tenminutes, robotic driving mode is initiated. Occupant monitoring systemcontinues to acquire occupant data for each occupant. Processing circuit150 receives the occupant data and determines a substantial increase ingrip strength of a handhold of occupant A relative to that received inmanual driving mode. Accordingly, processing circuit 150 may (viainput/output device 110) state: “Potential excessive discomfort has beendetected for Occupant A. Would you like to deactivate robotic drivingmode?” At this point, occupant A may voice their discomfort.Alternatively, occupant A may provide an indication that conditions areacceptable and that continued operation of the vehicle in roboticdriving mode is acceptable. After ten additional minutes, processingcircuit 150 may check in with occupant A to make sure everything isstill acceptable. Alternatively, processing circuit 150 may only checkin again if the occupant data indicates another substantial deviation.

If occupant A indicates that they are not comfortable with roboticdriving mode, processing circuit 150 may perform a series of operations.If the discomfort was detected immediately upon activation of roboticdriving mode, processing circuit 150 may determine that it is therobotic driving that caused the discomfort. Accordingly, processingcircuit 150 may completely deactivate robotic driving mode (upon warningto the driver of the vehicle). Alternatively, processing circuit 150 maypresent one or more vehicle operation commands or receive a vehicleoperation command from the uncomfortable occupant A. For example,occupant A may input: “Please drive slower than the speed limit; brakeslowly; and take corners gradually.” Here, occupant A is definingvehicle operating parameters for the vehicle. Processing circuit 150 mayprovide these commands to one or more vehicle systems and check in withoccupant A after a few minutes (or another predefined time period) tosee if they are more comfortable. If occupant A indicates that they arenot, additional vehicle operation commands may be provided or anaffirmative act to deactivate robotic driving mode may be provided.

Referring now to FIG. 7, a method of using a custom occupant monitoringsystem is shown according to one embodiment. Method 700 is initiated asetting input being received (701). In one embodiment, processingcircuit 150 receives the setting input. The setting input is structuredto customize operations of processing circuit 150 and occupantmonitoring system 130 in vehicle 100. The setting input may define howoften occupant data is acquired. The setting input may define when andwhat generated output to provide (e.g., processes 603-604 of method600). The setting input may include one or more predefined standardsthat indicate discomfort (e.g., forces greater than X on the handholdsindicate discomfort, temperature increases more than Y indicatediscomfort, etc.). The setting input may further define how a vehicleoperation command is determined. For example, acquired occupant data iscompared against preset values. In another example, the acquiredoccupant data is compared against reference occupant data. Further, thesetting input may define what vehicle operation command is providedbased on the acquired occupant data. For example, while in roboticdriving mode, if an occupant's temperature increases above one-hundreddegrees, processing circuit 150 may command the air-conditioning systemto activate and provide an output asking the occupant if they arecomfortable. In another example, if the grip force on a handholdincreases in robotic driving mode, processing circuit 150 may commandthe vehicle to slow down its speed. Thus, a user or occupant has a wideamount of customization possibilities via the setting input.

Moreover, the setting input may also define limits on the vehicleoperation command of processes 707-708. For example, in one embodiment,processing circuit 150 operates to alleviate discomfort of one or moreoccupants in vehicle 100 during robotic driving mode. In an alternateembodiment, processing circuit 150 operates to prevent an abuse orlikely abuse of power of the robotic driving vehicle. In thisembodiment, the setting input may limit one or more vehicle operationcommands. For example, while in robotic driving mode, the occupants keepinstructing the vehicle to go faster and faster. However, a priorsetting input may have limited vehicle speed to five miles-per-hourgreater than the speed limit based on the driving conditions (e.g.,traffic permitting). Via a location positioning system, processingcircuit 150 is able to obtain speed limit information. Although theoccupants keep instructing the vehicle to go faster above the speedlimit, processing circuit 150 operates to limit the vehicle speeddespite those commands.

In another embodiment, the setting input may instruct processing circuit150 to work in a somewhat opposite manner. For example, while thevehicle is being operated in a manual driving mode, the occupant datamay indicate that none of the occupants appear to be uncomfortable.Accordingly, processing circuit 150 may provide an output asking themwhether they would like to activate robotic driving mode. Thus, thesetting input (701) is structured to control one or more functions ofprocessing circuit 150.

Occupant information is received (702). In one embodiment, processingcircuit 150 receives the occupant information. As mentioned above, theoccupant information, or occupant-specific information, may includehealth information of an occupant (e.g., a tobacco user, history ofheart problems, etc.), age, gender, and preferences (e.g., vehicleoperating parameters that the occupant is comfortable with as opposed touncomfortable with). The occupant information may be provided viainput/output device 110. The occupant information may also includeidentity information. For example, processing circuit 150 may storeoccupant profiles for a variety of occupants and upon entering vehicle100, occupant A may identify himself/herself (703) such that his/heroccupant profile is retrieved. Identification of the occupant may beexplicit, as in the example above, or implicit. For example, occupantmonitoring system 130 may include a camera that takes a facial pictureof an occupant where processing circuit 150 utilizes a facialrecognition program to identify the occupant. Thus, occupantidentification may be via occupant data acquired. In another example,processing circuit 150 may recognize personal electronic device 160 toidentify an occupant. All variations are intended to fall within thescope of the present disclosure.

In still further embodiments, as described above, processing circuit 150may categorize an occupant upon identification (e.g., a driver). In thiscase, processing circuit 150 may pay closer attention to higherclassified occupants (e.g., provide vehicle operation commands toaccommodate their feelings over the feelings of others). Identificationof the occupant type may be via an input (e.g., a touchscreen mayreceive an input that the person is a driver). Identification of theoccupant type may be via recognition of personal electronic device 160(e.g., processing circuit 150 recognizes personal electronic device 160and retrieves a corresponding occupant profile that indicates theidentified person is an owner). Identification of the occupant type maybe based on proximity sensors (e.g., Occupant data acquired from anoccupant in the driver seat may be classified as occupant data of thedriver. Occupant data acquired from passengers in any other seat may beclassified as occupant data for a passenger(s).).

Upon identification (process 703), an occupant profile is retrieved foreach identified occupant (704). In one embodiment, processing circuit150 retrieves the occupant profile for each identified occupant. Theoccupant profile includes the occupant information for that occupant.This information may be based on occupant data acquired over one or morevehicle trips and/or information provided by the occupant. The occupantprofile may also include one or more preferences for that occupant.These preferences may include one or more occupant data levels thatindicate that the occupant is uncomfortable (in an alternate embodiment,show comfort); preferred vehicle operating parameters (e.g., “I preferat least twenty-five feet of following distance”); specific vehicleoperation commands for specific acquired occupant data points; etc.

If the occupant is not identified or does not have an occupant profile,an occupant profile may be created (705). For example, a new personalelectronic device 160 (e.g., not previously coupled to processingcircuit 150) may be detected by processing circuit 150 (e.g., via a USBcharging port). Processing circuit 150 may automatically create aprofile corresponding to the device, such that while the identity of theoccupant owning/operating the device 160 is unknown, processing circuit150 recognizes the device. In one example, the occupant operating thedevice may provide an identifying input via input/output device 110(e.g., a touchscreen). The input may provide an identification of thatoccupant's relative location in the vehicle, such that the occupant dataacquired from that location corresponds with the personal electronicdevice 160 (and, the self-identified occupant). In another example,because the device is likely plugged into a center console or otherlocation that may not correspond with a location of owner/operator ofthe device, processing circuit 150 may use an elimination-typealgorithm, process, or estimation to determine a location of theoccupant that corresponds to the device. For example, based on inputs ofother occupants in the vehicle, processing circuit 150 may determinethat device 160 belongs to the remaining, unidentified occupant.Further, processing circuit 150 may determine the location of eachpersonal electronic device 160 in vehicle 100 based on at least one of asignal strength indicator (e.g., received signal strengthidentification, etc.), other signal original techniques/methods, anothersensor in the vehicle identifying the location of each particulardevice, and any other location identifying procedure for personalelectronic device 160. Based on the determined location or relativelocations of personal electronic device in the vehicle, processingcircuit 150 may determine which occupant owns/operates which electronicdevice (e.g., the device in proximate location to the occupant may bepresumed to be owned/operated by that occupant, etc.).

In one embodiment, processing circuit 150 may create the occupantprofile. However, if the occupant does not wish to create a profile,processing circuit 150 may utilize one or predefined standards to gaugethat occupant's comfort level during the robotic driving mode. Forexample, when an occupant's profile is not available to use as areference, a transient force of X pounds or more on the occupant's seatindicates possible discomfort. In another example, the comparison may bebased on that occupant's data (e.g., the force on the seat) prior toactivation of robotic driving mode. If there is an increase of more thanten percent, processing circuit 150 may determine that the occupant isnot comfortable and provide one or more outputs (e.g., “would you likethe vehicle to slow down?”, “would you like to deactivate roboticdriving mode?”, etc.).

In another embodiment, the occupant profile may be transferable betweendevices (e.g., computing devices such as a computer, tablet, or asmartphone) and vehicles. For example, the occupant profile may bestored in a cloud networking environment or another environment (e.g., awebsite). In this case, data may be uploaded from the vehicle to thecloud, or a website maintaining the profile, or to a user's device(e.g., phone, USB drive, etc.), etc. In this situation, the data maylater be transferred to another vehicle for use or to a non-vehiclecomputer (e.g., the user has a program on their phone or home computerallowing them to adjust their preferences or other data). In analternate embodiment, the user may interact with a processing circuit ofthe vehicle to make these adjustments. All such variations are intendedto fall within the spirit and scope of the present disclosure.

Occupant data is received (706). In one embodiment, processing circuit150 receives the occupant data. Based on the occupant data, one or morevehicle operation commands are determined (707), which are then providedto a vehicle system (708). In one embodiment, processing circuit 150determines the vehicle operation commands and provides them to thevehicle system. As mentioned above, the determination of what commandsto provide may be based on the setting input. Moreover, thedetermination may be based on the occupants profile relative to thereceived occupant data. For occupants without profiles, thedetermination may be based on predefined standards that may be definedvia the input setting. Thus, method 700 provides for a customization ofthe operations of processing circuit 150 with monitoring system 130.

The present disclosure contemplates methods, systems, and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Wheninformation is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a machine, the machine properly views theconnection as a machine-readable medium. Thus, any such connection isproperly termed a machine-readable medium. Combinations of the above arealso included within the scope of machine-readable media.Machine-executable instructions include, for example, instructions anddata which cause a general purpose computer, special purpose computer,or special purpose processing machines to perform a certain function orgroup of functions.

Although the figures may show a specific order of method steps, theorder of the steps may differ from what is depicted. Also two or moresteps may be performed concurrently or with partial concurrence. Suchvariation will depend on the software and hardware systems chosen and ondesigner choice. All such variations are within the scope of thedisclosure. Likewise, software implementations could be accomplishedwith standard programming techniques with rule based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps and decision steps.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following claims.

What is claimed is:
 1. A method of operating a robotic driving vehicle,comprising: receiving, by a processing circuit, occupant data and anoccupant type regarding an occupant of a vehicle, wherein the occupanttype includes one of a driver and a passenger; determining, by theprocessing circuit, a vehicle operation command based on the occupantdata and the occupant type, the vehicle operation command configured toaffect operation of the vehicle while the vehicle is in a roboticdriving mode; and providing, by the processing circuit, the vehicleoperation command to a vehicle system.
 2. The method of claim 1, whereinthe vehicle system includes a robotic driving system, wherein therobotic driving system is configured to provide robotic control of thevehicle while the vehicle is in the robotic driving mode.
 3. The methodof claim 1, wherein the occupant data provides an indication ofdiscomfort of the occupant while the vehicle is in the robotic drivingmode.
 4. The method of claim 1, wherein the occupant data includes atleast one of an eye motion, a pupil size, a perspiration amount, aperspiration rate, a temperature, a pulse rate, audible information, anamount of shaking, an exertion of force, and a facial feature.
 5. Themethod of claim 4, wherein the vehicle command determination is based onan occupant data point being outside a predefined standard.
 6. Themethod of claim 4, wherein the predefined standard includes at least oneof an acceptable operating range and a threshold level, the thresholdlevel defining at least one of a minimum level and a maximum level forone or more occupant data points.
 7. The method of claim 1, wherein thevehicle command determination is based on a gradation level of anoccupant data point relative to a predefined standard, wherein eachgradation level corresponds with a different vehicle operation command.8. The method of claim 1, wherein the occupant includes a group ofoccupants, wherein the vehicle command determination is based onoccupant data for only one occupant of the group of occupants in thevehicle.
 9. The method of claim 1, wherein the vehicle commanddetermination is based on a comparison of one or more occupant datapoints to one or more reference occupant data points included inreference occupant data.
 10. The method of claim 9, wherein thereference occupant data is specific to the occupant that is acquired viaone or more vehicle trips.
 11. The method of claim 9, wherein thereference occupant data is based on occupant data that is acquired forall occupants in the vehicle during one vehicle trip.
 12. The method ofclaim 9, wherein the reference occupant data is based on occupant datathat is acquired for one or more vehicle occupants during a manualdriving mode of the vehicle.
 13. The method of claim 9, wherein thereference occupant data is based on occupant data acquired after apredetermined time of operation of the vehicle.
 14. The method of claim1, wherein the processing circuit is configured to generate an outputbased on the occupant data and provide the generated output to theoccupant of the vehicle, wherein the output includes at least one of theoccupant data acquired, a proposed vehicle operation command, and acorrelation between an occupant data point and a vehicle operatingparameter.
 15. The method of claim 1, wherein a sensor is configured toacquire the occupant data.
 16. The method of claim 15, wherein thesensor includes at least one of a camera, a body position sensor, aforce sensor, a pressure sensor, a microphone, a heart rate/pulsesensor, a moisture sensor, a temperature sensor, and a facial sensor.17. The method of claim 15, wherein the sensor includes at least one ofa physiological response sensor, a physical response sensor, and anacoustic sensor, wherein the acoustic sensor acquires at least one of avoluntary sound and an involuntary sound emitted by the occupant of thevehicle.
 18. The method of claim 17, wherein the physical responsesensor acquires a physical force generated by the occupant of thevehicle.
 19. The method of claim 1, wherein the effect on operation ofthe vehicle is based on affecting a vehicle operating parameterincluding at least one of a deactivation of the robotic driving mode, avehicle speed relative to another vehicle, an absolute vehicle speed, afollowing distance, an acceleration characteristic of the vehicle, abraking characteristic of the vehicle, a vehicle turning characteristic,and a lateral separation distance of the vehicle relative to an object.20. A method of operating a robotic driving vehicle, comprising:receiving, by a processing circuit, occupant data and an occupant typeregarding an occupant of a vehicle, wherein the occupant type includesone of a driver and a passenger; receiving, by the processing circuit,vehicle operation data; providing, by the processing circuit, an outputto the occupant of the vehicle regarding operation of the vehicle; andproviding, by the processing circuit, a vehicle operation command to arobotic driving system of the vehicle based on the occupant data, theoccupant type, and the vehicle operation data, the vehicle operationcommand configured to affect operation of the vehicle while the vehicleis in a robotic driving mode.
 21. The method of claim 20, wherein thevehicle operation command is configured to adjust a vehicle operatingparameter that caused the occupant data to indicate discomfort.
 22. Themethod of claim 20, wherein the vehicle operation data provides anindication of a vehicle operating parameter, the vehicle operatingparameter including a vehicle speed relative to another vehicle, anabsolute vehicle speed, a following distance, an accelerationcharacteristic of the vehicle, a braking characteristic of the vehicle,a vehicle turning characteristic, and a lateral separation distance ofthe vehicle relative to an object.
 23. The method of claim 20, whereinthe generated output includes at least one of the occupant dataacquired, a proposed vehicle operation command, and a correlationbetween an occupant data point and a vehicle operating parameter. 24.The method of claim 20, further comprising receiving, by the processingcircuit, a response to the provided output.
 25. The method of claim 24,wherein the response includes at least one of a vehicle operationcommand, a rejection to a generated vehicle operation command, amodification to a generated vehicle operation command, and an acceptanceto a generated vehicle operation command.
 26. A method of operating arobotic driving vehicle, comprising: identifying, by a processingcircuit, an occupant of a vehicle; receiving, by the processing circuit,occupant data and an occupant type regarding the occupant, wherein theoccupant type includes one of a driver and a passenger; determining, bythe processing circuit, a vehicle operation command based on theoccupant data and the occupant type; and providing, by the processingcircuit, the vehicle operation command to a vehicle system; wherein thevehicle operation command is configured to affect operation of thevehicle while the vehicle is in a robotic driving mode.
 27. The methodof claim 26, wherein identification is based on a personal electronicdevice of the occupant.
 28. The method of claim 26, wherein theprocessing circuit is configured to weight occupant data correspondingto higher classified occupant types more heavily than occupant datacorresponding to lower classified occupant types.
 29. The method ofclaim 26, wherein the processing circuit is configured to provide aprivilege to higher classified occupant types, wherein the privilegeincludes at least one of an ability to override provided vehicleoperation commands, an ability to ignore occupant data from one or moreother occupants in the vehicle, and an ability to weight more heavilyoccupant data from one or more other occupants in the vehicle despitethe one or more other occupants being classified in a relatively loweroccupant type.
 30. The method of claim 26, further comprisingretrieving, by the processing circuit, the occupant profile for theoccupant, wherein the occupant profile includes occupant information,the occupant information including at least one of an age, a gender, apiece of health information, and a preference of the occupant.
 31. Themethod of claim 30, wherein the preference includes one or more occupantdata levels that indicate a discomfort feeling in the occupant.
 32. Themethod of claim 30, wherein the preference includes a vehicle operationcommand for various acquired occupant data points.
 33. The method ofclaim 26, further comprising creating, by the processing circuit, anoccupant profile for an unidentified occupant.